#ifndef __ICM_H
#define __ICM_H

#include "headfile.h"

#define PI 3.1415926f
#define TARGET_ANGLE 0

extern float icm_acc_angle;
extern float icm_out_angle;
extern float icm_gyro_angle;
extern float icm_gyro_yf;

extern float kkk;
void icm_set_k(float c);
void icm_angle_calculate(void);

void icm_init(void);
void icm_exe(void);

#endif /*ICM_H */